公开(公告)号：US20150142171A1

公开(公告)日：2015-05-21

申请号：US14238142

申请日：2012-08-10

申请人： Gang Li ,  Yakup Genc ,  Siddharth Chhatpar ,  Daniel Sacco ,  Sandeep Naik ,  Alexander Gelbman ,  Roy Barr

发明人： Gang Li ,  Yakup Genc ,  Siddharth Chhatpar ,  Daniel Sacco ,  Sandeep Naik ,  Alexander Gelbman ,  Roy Barr

IPC分类号： B25J9/16

CPC分类号： B25J9/1692 ,  G05B2219/36412 ,  G05B2219/37554 ,  G05B2219/37572 ,  G05B2219/39016 ,  G05B2219/39045 ,  G05B2219/39057 ,  G05B2219/39391 ,  Y10S901/27 ,  Y10S901/31 ,  Y10S901/47

摘要： Disclosed are methods adapted to calibrate a robot gripper to a camera. The method includes providing a robot with a coupled moveable gripper, providing one or more cameras, providing a target scene having one or more fixed target points, moving the gripper and capturing images of the target scene at two or more imaging locations, recording positions in the gripper coordinate system for each of the imaging locations, recording images in a camera coordinate system, and processing the images and positions to determine a gripper-to-camera transformation between the gripper coordinate system and the camera coordinate system. The transformation may be accomplished by nonlinear least-squares minimization, such as the Levenberg-Marquardt method. Robot calibration apparatus for carrying out the method are disclosed, as are other aspects.

摘要翻译： 公开了适于将机器人夹持器校准到相机的方法。 该方法包括向机器人提供耦合的可移动夹持器，提供一个或多个相机，提供具有一个或多个固定目标点的目标场景，移动夹持器并在两个或更多个成像位置拍摄目标场景的图像， 用于每个成像位置的夹持器坐标系，在相机坐标系中记录图像，以及处理图像和位置，以确定夹具坐标系和相机坐标系之间的夹持器到相机的转换。 该变换可以通过非线性最小二乘法最小化来实现，例如Levenberg-Marquardt方法。 与其他方面一样，公开了用于执行该方法的机器人校准装置。

公开(公告)号：US20130287293A1

公开(公告)日：2013-10-31

申请号：US13817283

申请日：2011-09-13

申请人： Yakup Genc ,  Gang Li ,  Sajjad Hussain Baloch

发明人： Yakup Genc ,  Gang Li ,  Sajjad Hussain Baloch

IPC分类号： G06T15/50

CPC分类号： G06T15/50 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/10152 ,  G06T2207/20221 ,  G06T2207/30164

摘要： Active lighting is provided for stereo reconstruction (30) of edges (11) of a Delta-8 bundle. Stereo images of a device with edges (11) are captured (24). The image capture (24) is repeated under different lighting conditions, such as illuminating (22) the edges (11) from different directions. The images from each viewing or capture direction are combined (28). The combined images are used to stereographically reconstruct (30) the edges (11).

摘要翻译： 提供了用于Delta-8束的边缘（11）的立体重构（30）的主动照明。 拍摄具有边缘（11）的设备的立体图像（24）。 图像捕获（24）在不同的照明条件下重复，例如从不同方向照亮（22）边缘（11）。 来自每个观察或捕获方向的图像被组合（28）。 组合图像用于立体重建（30）边缘（11）。

公开(公告)号：US20140063241A1

公开(公告)日：2014-03-06

申请号：US14005138

申请日：2012-02-29

申请人： Gang Li ,  Yakup Genc ,  Siddharth Ram Chhatpar ,  Sandeep M. Naik ,  Roy Barr ,  Daniel Sacco ,  Alexander Gelbman

发明人： Gang Li ,  Yakup Genc ,  Siddharth Ram Chhatpar ,  Sandeep M. Naik ,  Roy Barr ,  Daniel Sacco ,  Alexander Gelbman

IPC分类号： G06T7/00 ,  H04N7/18

CPC分类号： G06T7/0044 ,  G06T7/0008 ,  G06T7/001 ,  G06T7/74 ,  G06T7/75 ,  G06T2207/30108 ,  H04N7/18

摘要： A multi-view stereo approach generates an inventory of objects located on an object holder. An object may be a sample tube and an object holder may be a tube rack as used in lab automation for healthcare diagnostics. A processor performs 3D tracking of the object holder and the geo-metric analysis of multiple images generated by a calibrated camera. A homography mapping between images is utilized to warp a second image to a viewpoint of a first image. Plane induced parallax causes a normalized cross-correlation score between the first image and the warped second image of a location on the holder that has an object that is significantly different from a normalized cross-correlation score of a location that has not an object and enables the processor to infer tube inventory and absence or presence of a tube at a location in a rack.

摘要翻译： 多视图立体声方法生成位于对象持有者上的对象的清单。 物体可以是样品管，并且物体保持器可以是用于医疗诊断的实验室自动化中使用的管架。 处理器执行对象持有者的3D跟踪以及由校准的相机产生的多个图像的地理度量分析。 利用图像之间的单应性映射来将第二图像扭曲到第一图像的视点。 平面引起的视差导致第一图像与持有者位置翘曲的第二图像之间的归一化互相关分数，其具有与没有对象并且使能的位置的归一化互相关分数显着不同的对象 处理器用于推断管道库存，并且在机架中的位置处不存在或存在管。

公开(公告)号：US08126273B2

公开(公告)日：2012-02-28

申请号：US12045074

申请日：2008-03-10

申请人： Gang Li ,  Yakup Genc

发明人： Gang Li ,  Yakup Genc

IPC分类号： G06K9/46

CPC分类号： G06K9/32 ,  G06K2209/40 ,  G06T7/593 ,  G06T2207/10012

摘要： A method for reconstructing three-dimensional, plural views of images from two dimensional image data. The method includes: obtaining two-dimensional, stereo digital data from images of an object; processing the digital data to generate an initial three-dimensional candidate of the object, such process using projective geometric constraints imposed on edge points of the object; refining the initial candidate comprising examining spatial coherency of neighboring edge points along a surface of the candidate.

摘要翻译： 一种从二维图像数据重建图像的三维多重视图的方法。 该方法包括：从对象的图像获得二维立体数字数据; 处理数字数据以产生对象的初始三维候选，该过程使用施加在对象的边缘点上的投影几何约束; 细化初始候选者，包括沿候选的表面检查相邻边缘点的空间一致性。

公开(公告)号：US20130070967A1

公开(公告)日：2013-03-21

申请号：US13584887

申请日：2012-08-14

申请人： Yakup Genc ,  Gang Li ,  Clifford Hatcher

发明人： Yakup Genc ,  Gang Li ,  Clifford Hatcher

IPC分类号： G06K9/78

CPC分类号： G06T7/20 ,  G06T2207/10016 ,  G06T2207/30164

摘要： An object in a hot atmosphere with a temperature greater than 400 F in a gas turbine moves in a 3D space. The movement may include a vibrational movement. The movement includes a rotational movement about an axis and a translational movement along the axis. Images of the object are recorded with a camera, which may be a high-speed camera. The object s provided with a pattern that is tracked in images. Warpings of sub-patches in a reference image of the object are determined to form standard format warped areas. The warpings are applied piece-wise to areas in following images to create corrected images. Standard tracking such as SSD tracking is applied to the piece-wise corrected images to determine a movement of the object. The image correction and object tracking are performed by a processor.

摘要翻译： 在燃气轮机中温度高于400°F的热气氛中的物体在3D空间中移动。 运动可以包括振动运动。 运动包括围绕轴的旋转运动和沿着轴的平移运动。 用相机拍摄物体的图像，摄像机可能是高速摄像机。 对象被提供有在图像中跟踪的图案。 确定对象的参考图像中的子补丁的变形以形成标准格式的扭曲区域。 将经线分段应用于以下图像中的区域以产生校正图像。 诸如SSD跟踪的标准跟踪被应用于分段校正图像以确定对象的移动。 图像校正和对象跟踪由处理器执行。

公开(公告)号：US20080247668A1

公开(公告)日：2008-10-09

申请号：US12045074

申请日：2008-03-10

申请人： Gang Li ,  Yakup Genc

发明人： Gang Li ,  Yakup Genc

IPC分类号： G06K9/36

CPC分类号： G06K9/32 ,  G06K2209/40 ,  G06T7/593 ,  G06T2207/10012

摘要： A method for reconstructing three-dimensional, plural views of images from two dimensional image data. The method includes: obtaining two-dimensional, stereo digital data from images of an object; processing the digital data to generate an initial three-dimensional candidate of the object, such process using projective geometric constraints imposed on edge points of the object; refining the initial candidate comprising examining spatial coherency of neighboring edge points along a surface of the candidate.

摘要翻译： 一种从二维图像数据重建图像的三维多重视图的方法。 该方法包括：从对象的图像获得二维立体数字数据; 处理数字数据以产生对象的初始三维候选，该过程使用施加在对象的边缘点上的投影几何约束; 细化初始候选者，包括沿候选的表面检查相邻边缘点的空间一致性。

公开(公告)号：US09245375B2

公开(公告)日：2016-01-26

申请号：US13817283

申请日：2011-09-13

申请人： Yakup Genc ,  Gang Li ,  Sajjad Hussain Baloch

发明人： Yakup Genc ,  Gang Li ,  Sajjad Hussain Baloch

IPC分类号： G06T7/00 ,  G06T15/50

CPC分类号： G06T15/50 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/10152 ,  G06T2207/20221 ,  G06T2207/30164

摘要： Active lighting is provided for stereo reconstruction (30) of edges (11) of a Delta-8 bundle. Stereo images of a device with edges (11) are captured (24). The image capture (24) is repeated under different lighting conditions, such as illuminating (22) the edges (11) from different directions. The images from each viewing or capture direction are combined (28). The combined images are used to stereographically reconstruct (30) the edges (11).

摘要翻译： 提供了用于Delta-8束的边缘（11）的立体重构（30）的主动照明。 拍摄具有边缘（11）的设备的立体图像（24）。 图像捕获（24）在不同的照明条件下重复，例如从不同方向照亮（22）边缘（11）。 来自每个观察或捕获方向的图像被组合（28）。 组合图像用于立体重建（30）边缘（11）。

公开(公告)号：US09137462B2

公开(公告)日：2015-09-15

申请号：US13617416

申请日：2012-09-14

申请人： Gang Li ,  Yakup Genc ,  Erwan Baleine ,  Dennis H. Lemieux

发明人： Gang Li ,  Yakup Genc ,  Erwan Baleine ,  Dennis H. Lemieux

IPC分类号： G01N29/27 ,  H04N5/33 ,  G06T7/60 ,  G06T7/00

CPC分类号： H04N5/33 ,  G01N2223/63 ,  G06T7/0004 ,  G06T7/60 ,  G06T7/62 ,  G06T2207/10048 ,  G06T2207/20061 ,  G06T2207/20096 ,  G06T2207/20101 ,  G06T2207/30164

摘要： Two adjacent objects with a gap between the objects rotate in a hot atmosphere with a temperature greater than 300 F in a gas turbine. Automatic and accurate contactless measurement of the gap is performed by taking images of the gap. An image, preferably an infra-red image is taken from the gap, a processor extracts the two edges from the image of the gap. The processor also determines a line through the pixels of an edge by applying a Hough transform on the pixels. The edges are substantially parallel. A line substantially perpendicular to the lines is also determined. Using the substantially parallel lines and the line substantially perpendicular to the substantially parallel lines the processor determines a width of the gap.

摘要翻译： 在燃气轮机中，具有物体之间的间隙的两个相邻物体在温度大于300°F的热气氛中旋转。 通过拍摄间隙的图像来进行间隙的自动和准确的非接触式测量。 从间隙中取出图像，优选地是红外图像，处理器从间隙的图像中提取两个边缘。 处理器还通过在像素上应用霍夫变换来确定穿过边缘的像素的线。 边缘基本上平行。 还确定了基本上垂直于线的线。 使用基本平行的线和基本上垂直于基本上平行的线的线，处理器确定间隙的宽度。

公开(公告)号：US20130088587A1

公开(公告)日：2013-04-11

申请号：US13617416

申请日：2012-09-14

申请人： Gang Li ,  Yakup Genc ,  Erwan Baleine ,  Dennis H. Lemieux

发明人： Gang Li ,  Yakup Genc ,  Erwan Baleine ,  Dennis H. Lemieux

IPC分类号： H04N5/33

CPC分类号： H04N5/33 ,  G01N2223/63 ,  G06T7/0004 ,  G06T7/60 ,  G06T7/62 ,  G06T2207/10048 ,  G06T2207/20061 ,  G06T2207/20096 ,  G06T2207/20101 ,  G06T2207/30164

摘要： Two adjacent objects with a gap between the objects rotate in a hot atmosphere with a temperature greater than 300 F in a gas turbine. Automatic and accurate contactless measurement of the gap is performed by taking images of the gap. An image, preferably an infra-red image is taken from the gap, a processor extracts the two edges from the image of the gap. The processor also determines a line through the pixels of an edge by applying a Hough transform on the pixels. The edges are substantially parallel. A line substantially perpendicular to the lines is also determined. Using the substantially parallel lines and the line substantially perpendicular to the substantially parallel lines the processor determines a width of the gap.

摘要翻译： 在燃气轮机中，具有物体之间的间隙的两个相邻物体在温度大于300°F的热气氛中旋转。 通过拍摄间隙的图像来进行间隙的自动和准确的非接触式测量。 从间隙中取出图像，优选地是红外图像，处理器从间隙的图像中提取两个边缘。 处理器还通过在像素上应用霍夫变换来确定穿过边缘的像素的线。 边缘基本上平行。 还确定了基本上垂直于线的线。 使用基本平行的线和基本上垂直于基本上平行的线的线，处理器确定间隙的宽度。

公开(公告)号：US09367918B2

公开(公告)日：2016-06-14

申请号：US14005138

申请日：2012-02-29

申请人： Gang Li ,  Yakup Genc ,  Siddharth Ram Chhatpar ,  Sandeep M. Naik ,  Roy Barr ,  Daniel Sacco ,  Alexander Gelbman

发明人： Gang Li ,  Yakup Genc ,  Siddharth Ram Chhatpar ,  Sandeep M. Naik ,  Roy Barr ,  Daniel Sacco ,  Alexander Gelbman

IPC分类号： G06T7/00 ,  H04N7/18

CPC分类号： G06T7/0044 ,  G06T7/0008 ,  G06T7/001 ,  G06T7/74 ,  G06T7/75 ,  G06T2207/30108 ,  H04N7/18

摘要： A multi-view stereo approach generates an inventory of objects located on an object holder. An object may be a sample tube and an object holder may be a tube rack as used in lab automation for healthcare diagnostics. A processor performs 3D tracking of the object holder and the geometric analysis of multiple images generated by a calibrated camera. A homography mapping between images is utilized to warp a second image to a viewpoint of a first image. Plane induced parallax causes a normalized cross-correlation score between the first image and the warped second image of a location on the holder that has an object that is significantly different from a normalized cross-correlation score of a location that has not an object and enables the processor to infer tube inventory and absence or presence of a tube at a location in a rack.

摘要翻译： 多视图立体声方法生成位于对象持有者上的对象的清单。 物体可以是样品管，并且物体保持器可以是用于医疗诊断的实验室自动化中使用的管架。 处理器执行物体保持器的3D跟踪以及由校准的相机产生的多个图像的几何分析。 利用图像之间的单应性映射来将第二图像扭曲到第一图像的视点。 平面引起的视差导致第一图像与持有者位置翘曲的第二图像之间的归一化互相关分数，其具有与没有对象并且使能的位置的归一化互相关分数显着不同的对象 处理器用于推断管道库存，并且在机架中的位置处不存在或存在管。